ardupilot/AntennaTracker/Parameters.h

167 lines
4.9 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef PARAMETERS_H
#define PARAMETERS_H
#include <AP_Common/AP_Common.h>
// Global parameter class.
//
class Parameters {
public:
/*
* The value of k_format_version determines whether the existing
* eeprom data is considered valid. You should only change this
* value under the following circumstances:
*
* 1) the meaning of an existing eeprom parameter changes
*
* 2) the value of an existing k_param_* enum value changes
*
* Adding a new parameter should _not_ require a change to
* k_format_version except under special circumstances. If you
* change it anyway then all ArduPlane users will need to reload all
* their parameters. We want that to be an extremely rare
* thing. Please do not just change it "just in case".
*
* To determine if a k_param_* value has changed, use the rules of
* C++ enums to work out the value of the neighboring enum
* values. If you don't know the C++ enum rules then please ask for
* help.
*/
//////////////////////////////////////////////////////////////////
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
static const uint16_t k_format_version = 1;
//////////////////////////////////////////////////////////////////
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches.
//
static const uint16_t k_software_type = 4;
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
k_param_gcs0 = 100, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud, // deprecated
k_param_serial1_baud, // deprecated
k_param_imu,
k_param_compass_enabled,
k_param_compass,
k_param_ahrs, // AHRS group
k_param_barometer,
k_param_scheduler,
k_param_ins,
k_param_sitl,
k_param_pidPitch2Srv,
k_param_pidYaw2Srv,
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud, // deprecated
k_param_yaw_slew_time,
k_param_pitch_slew_time,
k_param_min_reverse_time,
k_param_start_latitude,
k_param_start_longitude,
k_param_startup_delay,
k_param_BoardConfig,
k_param_gps,
k_param_scan_speed,
k_param_proxy_mode_unused, // deprecated
k_param_servo_type,
k_param_onoff_yaw_rate,
k_param_onoff_pitch_rate,
k_param_onoff_yaw_mintime,
k_param_onoff_pitch_mintime,
k_param_yaw_trim,
k_param_pitch_trim,
k_param_yaw_range,
k_param_pitch_range,
k_param_distance_min,
k_param_sysid_target, // 138
k_param_gcs3, // stream rates for fourth MAVLink port
k_param_log_bitmask, // 140
//
// 150: Telemetry control
//
k_param_serial_manager, // serial manager library
//
// 200 : Radio settings
//
k_param_channel_yaw = 200,
k_param_channel_pitch,
//
// 220: Waypoint data
//
k_param_command_total = 220,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int16 sysid_target;
AP_Int8 compass_enabled;
AP_Float yaw_slew_time;
AP_Float pitch_slew_time;
AP_Float min_reverse_time;
AP_Float scan_speed;
AP_Float start_latitude;
AP_Float start_longitude;
AP_Float startup_delay;
AP_Int8 servo_type;
AP_Float onoff_yaw_rate;
AP_Float onoff_pitch_rate;
AP_Float onoff_yaw_mintime;
AP_Float onoff_pitch_mintime;
AP_Float yaw_trim;
AP_Float pitch_trim;
AP_Int16 yaw_range; // yaw axis total range of motion in degrees
AP_Int16 pitch_range; // pitch axis total range of motion in degrees
AP_Int16 distance_min; // target's must be at least this distance from tracker to be tracked
// Waypoints
//
AP_Int8 command_total; // 1 if HOME is set
AP_Int32 log_bitmask;
// PID controllers
PID pidPitch2Srv;
PID pidYaw2Srv;
Parameters() :
pidPitch2Srv(0.2, 0, 0.05f, 4000.0f),
pidYaw2Srv (0.2, 0, 0.05f, 4000.0f)
{}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H